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<div class="header">
  <div class="summary">
<a href="classEigen_1_1AngleAxis-members.html">List of all members</a> &#124;
<a href="#pub-types">Public Types</a> &#124;
<a href="#pub-methods">Public Member Functions</a>  </div>
  <div class="headertitle">
<div class="title">Eigen::AngleAxis&lt; Scalar_ &gt; Class Template Reference<div class="ingroups"><a class="el" href="group__Geometry__chapter.html">Geometry</a> &raquo; <a class="el" href="group__Geometry__Reference.html">Reference</a> &raquo; <a class="el" href="group__Geometry__Module.html">Geometry module</a></div></div>  </div>
</div><!--header-->
<div class="contents">
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename Scalar_&gt;<br />
class Eigen::AngleAxis&lt; Scalar_ &gt;</h3>

<p>Represents a 3D rotation as a rotation angle around an arbitrary 3D axis. </p>
<p>This is defined in the Geometry module.</p><div class="fragment"><div class="line"><span class="preprocessor">#include &lt;Eigen/Geometry&gt;</span> </div>
</div><!-- fragment --><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">Scalar_</td><td>the scalar type, i.e., the type of the coefficients.</td></tr>
  </table>
  </dd>
</dl>
<dl class="section warning"><dt>Warning</dt><dd>When setting up an <a class="el" href="classEigen_1_1AngleAxis.html" title="Represents a 3D rotation as a rotation angle around an arbitrary 3D axis.">AngleAxis</a> object, the axis vector <b>must</b> <b>be</b> <b>normalized</b>.</dd></dl>
<p>The following two typedefs are provided for convenience: </p><ul>
<li><code>AngleAxisf</code> for <code>float</code> </li>
<li><code>AngleAxisd</code> for <code>double</code> </li>
</ul>
<p>Combined with <a class="el" href="classEigen_1_1MatrixBase.html#ac7a03a61014f37ddd2fe61ebac0c9539">MatrixBase::Unit</a>{X,Y,Z}, <a class="el" href="classEigen_1_1AngleAxis.html" title="Represents a 3D rotation as a rotation angle around an arbitrary 3D axis.">AngleAxis</a> can be used to easily mimic Euler-angles. Here is an example: </p><div class="fragment"><div class="line"><a class="code" href="group__matrixtypedefs.html#ga276bae130c142e906ad8f47d24d11c1c">Matrix3f</a> m;</div>
<div class="line">m = <a class="code" href="group__Geometry__Module.html#gad823b9c674644b14d950fbfe165dfdbf">AngleAxisf</a>(0.25*M_PI, <a class="code" href="classEigen_1_1MatrixBase.html#a8a555b7cf626cced54670b98668c4e6d">Vector3f::UnitX</a>())</div>
<div class="line">  * <a class="code" href="group__Geometry__Module.html#gad823b9c674644b14d950fbfe165dfdbf">AngleAxisf</a>(0.5*M_PI,  <a class="code" href="classEigen_1_1MatrixBase.html#a00850083489e20249b1d05b394fc5efc">Vector3f::UnitY</a>())</div>
<div class="line">  * <a class="code" href="group__Geometry__Module.html#gad823b9c674644b14d950fbfe165dfdbf">AngleAxisf</a>(0.33*M_PI, <a class="code" href="classEigen_1_1MatrixBase.html#aabdcdeff1c822a5465fcbe1f78e5afe0">Vector3f::UnitZ</a>());</div>
<div class="line">cout &lt;&lt; m &lt;&lt; endl &lt;&lt; <span class="stringliteral">&quot;is unitary: &quot;</span> &lt;&lt; m.isUnitary() &lt;&lt; endl;</div>
<div class="ttc" id="aclassEigen_1_1MatrixBase_html_a00850083489e20249b1d05b394fc5efc"><div class="ttname"><a href="classEigen_1_1MatrixBase.html#a00850083489e20249b1d05b394fc5efc">Eigen::MatrixBase::UnitY</a></div><div class="ttdeci">static const BasisReturnType UnitY()</div><div class="ttdef"><b>Definition:</b> CwiseNullaryOp.h:942</div></div>
<div class="ttc" id="aclassEigen_1_1MatrixBase_html_a8a555b7cf626cced54670b98668c4e6d"><div class="ttname"><a href="classEigen_1_1MatrixBase.html#a8a555b7cf626cced54670b98668c4e6d">Eigen::MatrixBase::UnitX</a></div><div class="ttdeci">static const BasisReturnType UnitX()</div><div class="ttdef"><b>Definition:</b> CwiseNullaryOp.h:932</div></div>
<div class="ttc" id="aclassEigen_1_1MatrixBase_html_aabdcdeff1c822a5465fcbe1f78e5afe0"><div class="ttname"><a href="classEigen_1_1MatrixBase.html#aabdcdeff1c822a5465fcbe1f78e5afe0">Eigen::MatrixBase::UnitZ</a></div><div class="ttdeci">static const BasisReturnType UnitZ()</div><div class="ttdef"><b>Definition:</b> CwiseNullaryOp.h:952</div></div>
<div class="ttc" id="agroup__Geometry__Module_html_gad823b9c674644b14d950fbfe165dfdbf"><div class="ttname"><a href="group__Geometry__Module.html#gad823b9c674644b14d950fbfe165dfdbf">Eigen::AngleAxisf</a></div><div class="ttdeci">AngleAxis&lt; float &gt; AngleAxisf</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:159</div></div>
<div class="ttc" id="agroup__matrixtypedefs_html_ga276bae130c142e906ad8f47d24d11c1c"><div class="ttname"><a href="group__matrixtypedefs.html#ga276bae130c142e906ad8f47d24d11c1c">Eigen::Matrix3f</a></div><div class="ttdeci">Matrix&lt; float, 3, 3 &gt; Matrix3f</div><div class="ttdoc">3×3 matrix of type float.</div><div class="ttdef"><b>Definition:</b> Matrix.h:500</div></div>
</div><!-- fragment --><p> Output: </p><pre class="fragment">1.19e-07        0        1
   0.969   -0.249        0
   0.249    0.969 1.19e-07
is unitary: 1
</pre><dl class="section note"><dt>Note</dt><dd>This class is not aimed to be used to store a rotation transformation, but rather to make easier the creation of other rotation (<a class="el" href="classEigen_1_1Quaternion.html" title="The quaternion class used to represent 3D orientations and rotations.">Quaternion</a>, rotation <a class="el" href="classEigen_1_1Matrix.html" title="The matrix class, also used for vectors and row-vectors.">Matrix</a>) and transformation objects.</dd></dl>
<dl class="section see"><dt>See also</dt><dd>class <a class="el" href="classEigen_1_1Quaternion.html" title="The quaternion class used to represent 3D orientations and rotations.">Quaternion</a>, class <a class="el" href="classEigen_1_1Transform.html" title="Represents an homogeneous transformation in a N dimensional space.">Transform</a>, <a class="el" href="classEigen_1_1MatrixBase.html#a8a555b7cf626cced54670b98668c4e6d">MatrixBase::UnitX()</a> </dd></dl>
</div><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for Eigen::AngleAxis&lt; Scalar_ &gt;:</div>
<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
</div>
<div id="dynsection-0-content" class="dyncontent" style="display:none;">
<div class="center"><img src="classEigen_1_1AngleAxis__inherit__graph.png" border="0" usemap="#aEigen_1_1AngleAxis_3_01Scalar___01_4_inherit__map" alt="Inheritance graph"/></div>
<map name="aEigen_1_1AngleAxis_3_01Scalar___01_4_inherit__map" id="aEigen_1_1AngleAxis_3_01Scalar___01_4_inherit__map">
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a19d36a44174a4053bc16dbb16f02c493"><td class="memItemLeft" align="right" valign="top">typedef Scalar_&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a></td></tr>
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<tr class="inherit_header pub_types_classEigen_1_1RotationBase"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classEigen_1_1RotationBase')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classEigen_1_1RotationBase.html">Eigen::RotationBase&lt; AngleAxis&lt; Scalar_ &gt;, 3 &gt;</a></td></tr>
<tr class="memitem:a2208f5cae3e61336a9fedb4b8ad37d60 inherit pub_types_classEigen_1_1RotationBase"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classEigen_1_1Matrix.html">Matrix</a>&lt; <a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a>, Dim, Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a2208f5cae3e61336a9fedb4b8ad37d60">RotationMatrixType</a></td></tr>
<tr class="separator:a2208f5cae3e61336a9fedb4b8ad37d60 inherit pub_types_classEigen_1_1RotationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a942f03c9a5bfbad71a313aee8d37887e inherit pub_types_classEigen_1_1RotationBase"><td class="memItemLeft" align="right" valign="top">typedef internal::traits&lt; <a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a>&lt; Scalar_ &gt; &gt;::<a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a></td></tr>
<tr class="separator:a942f03c9a5bfbad71a313aee8d37887e inherit pub_types_classEigen_1_1RotationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a008a72c952febe092a63cf7a33072d79"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#a008a72c952febe092a63cf7a33072d79">angle</a> ()</td></tr>
<tr class="separator:a008a72c952febe092a63cf7a33072d79"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad933b9ba0c40224b7ded9a313396c736"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#ad933b9ba0c40224b7ded9a313396c736">angle</a> () const</td></tr>
<tr class="separator:ad933b9ba0c40224b7ded9a313396c736"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab4a1ad0b14eca9778f6431c2fc4b0904"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#ab4a1ad0b14eca9778f6431c2fc4b0904">AngleAxis</a> ()</td></tr>
<tr class="separator:ab4a1ad0b14eca9778f6431c2fc4b0904"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0eb5e6101b98e2e512cd30aaf3e4b141"><td class="memTemplParams" colspan="2">template&lt;typename OtherScalarType &gt; </td></tr>
<tr class="memitem:a0eb5e6101b98e2e512cd30aaf3e4b141"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#a0eb5e6101b98e2e512cd30aaf3e4b141">AngleAxis</a> (const <a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a>&lt; OtherScalarType &gt; &amp;other)</td></tr>
<tr class="separator:a0eb5e6101b98e2e512cd30aaf3e4b141"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a85f643674f5e8dcc0917fe7fa599e0fd"><td class="memTemplParams" colspan="2">template&lt;typename Derived &gt; </td></tr>
<tr class="memitem:a85f643674f5e8dcc0917fe7fa599e0fd"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#a85f643674f5e8dcc0917fe7fa599e0fd">AngleAxis</a> (const <a class="el" href="classEigen_1_1MatrixBase.html">MatrixBase</a>&lt; Derived &gt; &amp;m)</td></tr>
<tr class="separator:a85f643674f5e8dcc0917fe7fa599e0fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a388b4ff796a66ec0b13f42efe2d9dd8a"><td class="memTemplParams" colspan="2">template&lt;typename QuatDerived &gt; </td></tr>
<tr class="memitem:a388b4ff796a66ec0b13f42efe2d9dd8a"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#a388b4ff796a66ec0b13f42efe2d9dd8a">AngleAxis</a> (const <a class="el" href="classEigen_1_1QuaternionBase.html">QuaternionBase</a>&lt; QuatDerived &gt; &amp;q)</td></tr>
<tr class="separator:a388b4ff796a66ec0b13f42efe2d9dd8a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a78b42395c8c42bc24adeac7c53443cf5"><td class="memTemplParams" colspan="2">template&lt;typename Derived &gt; </td></tr>
<tr class="memitem:a78b42395c8c42bc24adeac7c53443cf5"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#a78b42395c8c42bc24adeac7c53443cf5">AngleAxis</a> (const <a class="el" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a> &amp;<a class="el" href="classEigen_1_1AngleAxis.html#ad933b9ba0c40224b7ded9a313396c736">angle</a>, const <a class="el" href="classEigen_1_1MatrixBase.html">MatrixBase</a>&lt; Derived &gt; &amp;<a class="el" href="classEigen_1_1AngleAxis.html#a07ba27c022c814f745f0cdc3d0a7b661">axis</a>)</td></tr>
<tr class="separator:a78b42395c8c42bc24adeac7c53443cf5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a23d9c5e759a90a630555dccf0f6b92f4"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Matrix.html">Vector3</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#a23d9c5e759a90a630555dccf0f6b92f4">axis</a> ()</td></tr>
<tr class="separator:a23d9c5e759a90a630555dccf0f6b92f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a07ba27c022c814f745f0cdc3d0a7b661"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classEigen_1_1Matrix.html">Vector3</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#a07ba27c022c814f745f0cdc3d0a7b661">axis</a> () const</td></tr>
<tr class="separator:a07ba27c022c814f745f0cdc3d0a7b661"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acaaea3e63665e811af3cacfd5fd141e0"><td class="memTemplParams" colspan="2">template&lt;typename NewScalarType &gt; </td></tr>
<tr class="memitem:acaaea3e63665e811af3cacfd5fd141e0"><td class="memTemplItemLeft" align="right" valign="top">internal::cast_return_type&lt; <a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a>, <a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a>&lt; NewScalarType &gt; &gt;::type&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#acaaea3e63665e811af3cacfd5fd141e0">cast</a> () const</td></tr>
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<tr class="memitem:af7640c5bfd9c6f13134f5f55cae6f38c"><td class="memTemplParams" colspan="2"><a id="af7640c5bfd9c6f13134f5f55cae6f38c"></a>
template&lt;typename Derived &gt; </td></tr>
<tr class="memitem:af7640c5bfd9c6f13134f5f55cae6f38c"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a>&lt; <a class="el" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a> &gt; &amp;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#af7640c5bfd9c6f13134f5f55cae6f38c">fromRotationMatrix</a> (const <a class="el" href="classEigen_1_1MatrixBase.html">MatrixBase</a>&lt; Derived &gt; &amp;mat)</td></tr>
<tr class="memdesc:af7640c5bfd9c6f13134f5f55cae6f38c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets <code>*this</code> from a 3x3 rotation matrix. <br /></td></tr>
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<tr class="memitem:a8dee3c98ecf3b95498901cfdb5c7911f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#a8dee3c98ecf3b95498901cfdb5c7911f">inverse</a> () const</td></tr>
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<tr class="memitem:acd82611c4fd46fcba522b0ede93f4f79"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#acd82611c4fd46fcba522b0ede93f4f79">isApprox</a> (const <a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a> &amp;other, const typename <a class="el" href="structEigen_1_1NumTraits.html">NumTraits</a>&lt; <a class="el" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a> &gt;::Real &amp;prec=<a class="el" href="structEigen_1_1NumTraits.html">NumTraits</a>&lt; <a class="el" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a> &gt;::dummy_precision()) const</td></tr>
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<tr class="memitem:a1c6afdfc1f129bea9742d01cf1220be2"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Quaternion.html">QuaternionType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#a1c6afdfc1f129bea9742d01cf1220be2">operator*</a> (const <a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a> &amp;other) const</td></tr>
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<tr class="memitem:a5d44694f1ad7a421baa7df4c5a599f44"><td class="memTemplParams" colspan="2">template&lt;typename Derived &gt; </td></tr>
<tr class="memitem:a5d44694f1ad7a421baa7df4c5a599f44"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a>&lt; <a class="el" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a> &gt; &amp;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#a5d44694f1ad7a421baa7df4c5a599f44">operator=</a> (const <a class="el" href="classEigen_1_1MatrixBase.html">MatrixBase</a>&lt; Derived &gt; &amp;mat)</td></tr>
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<tr class="memitem:abdba7c4e3a2b32b75ee094c0834f078c"><td class="memTemplParams" colspan="2">template&lt;typename QuatDerived &gt; </td></tr>
<tr class="memitem:abdba7c4e3a2b32b75ee094c0834f078c"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a>&lt; <a class="el" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a> &gt; &amp;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#abdba7c4e3a2b32b75ee094c0834f078c">operator=</a> (const <a class="el" href="classEigen_1_1QuaternionBase.html">QuaternionBase</a>&lt; QuatDerived &gt; &amp;q)</td></tr>
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<tr class="memitem:ad333c1b13aa0fa01d7fab30f18d2cd46"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Matrix.html">Matrix3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#ad333c1b13aa0fa01d7fab30f18d2cd46">toRotationMatrix</a> (void) const</td></tr>
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<tr class="inherit_header pub_methods_classEigen_1_1RotationBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classEigen_1_1RotationBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classEigen_1_1RotationBase.html">Eigen::RotationBase&lt; AngleAxis&lt; Scalar_ &gt;, 3 &gt;</a></td></tr>
<tr class="memitem:a17e1494056ac5d1fb4d00d8488b6a0a7 inherit pub_methods_classEigen_1_1RotationBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a>&lt; Scalar_ &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a17e1494056ac5d1fb4d00d8488b6a0a7">inverse</a> () const</td></tr>
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<tr class="memitem:ad553de027676bded14bbed5623dbdb72 inherit pub_methods_classEigen_1_1RotationBase"><td class="memItemLeft" align="right" valign="top">internal::rotation_base_generic_product_selector&lt; <a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a>&lt; Scalar_ &gt;, OtherDerived, OtherDerived::IsVectorAtCompileTime &gt;::ReturnType&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#ad553de027676bded14bbed5623dbdb72">operator*</a> (const <a class="el" href="structEigen_1_1EigenBase.html">EigenBase</a>&lt; OtherDerived &gt; &amp;e) const</td></tr>
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<h2 class="groupheader">Member Typedef Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a19d36a44174a4053bc16dbb16f02c493">&#9670;&nbsp;</a></span>Scalar</h2>

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template&lt;typename Scalar_ &gt; </div>
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<p>the scalar type of the coefficients </p>

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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#ab4a1ad0b14eca9778f6431c2fc4b0904">&#9670;&nbsp;</a></span>AngleAxis() <span class="overload">[1/5]</span></h2>

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<p>Default constructor without initialization. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a78b42395c8c42bc24adeac7c53443cf5">&#9670;&nbsp;</a></span>AngleAxis() <span class="overload">[2/5]</span></h2>

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<p>Constructs and initialize the angle-axis rotation from an <em>angle</em> in radian and an <em>axis</em> which <b>must</b> <b>be</b> <b>normalized</b>.</p>
<dl class="section warning"><dt>Warning</dt><dd>If the <em>axis</em> vector is not normalized, then the angle-axis object represents an invalid rotation. </dd></dl>

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<p>Constructs and initialize the angle-axis rotation from a quaternion <em>q</em>. This function implicitly normalizes the quaternion <em>q</em>. </p>

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<p>Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix. </p>

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<p>Copy constructor with scalar type conversion </p>

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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a008a72c952febe092a63cf7a33072d79">&#9670;&nbsp;</a></span>angle() <span class="overload">[1/2]</span></h2>

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<dl class="section return"><dt>Returns</dt><dd>a read-write reference to the stored angle in radian </dd></dl>

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<dl class="section return"><dt>Returns</dt><dd>the value of the rotation angle in radian </dd></dl>

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<dl class="section return"><dt>Returns</dt><dd>a read-write reference to the stored rotation axis.</dd></dl>
<dl class="section warning"><dt>Warning</dt><dd>The rotation axis must remain a <b>unit</b> vector. </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a07ba27c022c814f745f0cdc3d0a7b661">&#9670;&nbsp;</a></span>axis() <span class="overload">[2/2]</span></h2>

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<dl class="section return"><dt>Returns</dt><dd>the rotation axis </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#acaaea3e63665e811af3cacfd5fd141e0">&#9670;&nbsp;</a></span>cast()</h2>

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<dl class="section return"><dt>Returns</dt><dd><code>*this</code> with scalar type casted to <em>NewScalarType</em> </dd></dl>
<p>Note that if <em>NewScalarType</em> is equal to the current scalar type of <code>*this</code> then this function smartly returns a const reference to <code>*this</code>. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a8dee3c98ecf3b95498901cfdb5c7911f">&#9670;&nbsp;</a></span>inverse()</h2>

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<dl class="section return"><dt>Returns</dt><dd>the inverse rotation, i.e., an angle-axis with opposite rotation angle </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#acd82611c4fd46fcba522b0ede93f4f79">&#9670;&nbsp;</a></span>isApprox()</h2>

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<dl class="section return"><dt>Returns</dt><dd><code>true</code> if <code>*this</code> is approximately equal to <em>other</em>, within the precision determined by <em>prec</em>.</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classEigen_1_1DenseBase.html#ae8443357b808cd393be1b51974213f9c">MatrixBase::isApprox()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a1c6afdfc1f129bea9742d01cf1220be2">&#9670;&nbsp;</a></span>operator*() <span class="overload">[1/2]</span></h2>

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<p>Concatenates two rotations </p>

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<p>Concatenates two rotations </p>

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<p>Set <code>*this</code> from a 3x3 rotation matrix <em>mat</em>. </p>

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<p>Set <code>*this</code> from a <b>unit</b> quaternion.</p>
<p>The resulting axis is normalized, and the computed angle is in the [0,pi] range.</p>
<p>This function implicitly normalizes the quaternion <em>q</em>. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ad333c1b13aa0fa01d7fab30f18d2cd46">&#9670;&nbsp;</a></span>toRotationMatrix()</h2>

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<p>Constructs and </p><dl class="section return"><dt>Returns</dt><dd>an equivalent 3x3 rotation matrix. </dd></dl>

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<hr/>The documentation for this class was generated from the following file:<ul>
<li><a class="el" href="AngleAxis_8h_source.html">AngleAxis.h</a></li>
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